I tried to install from the CD the driver of my printer, a Samsung Scx-3200.
How can I install the printer driver?
You can download the Unified Printer Driver from Samsung's official website. This forum thread is the best guide for doing so.
Probably you will not find a Linux driver on the CD. Ubuntu 11.10 and higher however include the Splix driver that works with your printer and it should get automatically set up.